The problem of grasping objects with robotic hands has a long history in literature, yet many issues are still open, especially when dealing with the perception of the touched object, and its manipulation. These two problems are usually analyzed separately; however, it is important to look at the two aspects in a joint fashion. In this thesis I propose a general theoretical framework for the simultaneous perception and manipulation of an unknown object with generic robotic hands, considering also the limits of the manipulator.